// Copyright (C) 2003
// Gerhard Neumann (gneumann@gmx.net)
// Stephan Neumann (sneumann@gmx.net) 
//                
// This file is part of RL Toolbox.
// http://www.igi.tugraz.at/ril_toolbox
//
// All rights reserved.
// 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
// 3. The name of the author may not be used to endorse or promote products
//    derived from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
// OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
// NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "cenvironmentmodel.h"
#include "cstatecollection.h"
#include "cstateproperties.h"
#include "ril_debug.h"

#include <assert.h>


CEnvironmentModel::CEnvironmentModel(int continuousStates, int discreteStates) : CStateObject(new CStateProperties(continuousStates, discreteStates))
{
	reset = true;
}

CEnvironmentModel::CEnvironmentModel(CStateProperties *properties) : CStateObject(properties)
{
	reset = true;
}


CEnvironmentModel::~CEnvironmentModel()
{
}

void CEnvironmentModel::getState(CState *state)
{
	assert(state->getNumContinuousStates() == getNumContinuousStates() && state->getNumDiscreteStates() == getNumDiscreteStates());

	state->resetState();
}

void CEnvironmentModel::getState(CStateCollectionImpl *stateCollection)
{
	getState(stateCollection->getState());
	stateCollection->newModelState();

}


void CEnvironmentModel::nextState(CPrimitiveAction *action)
{
	if (reset)
	{
  		resetModel();
	}

	doNextState(action);
	
	if (failed) reset = true;
}

void CEnvironmentModel::resetModel()
{
	doResetModel();
	
	reset = false;
	failed = false;
}

